ocra_icub::OcraWbiModel Class Reference

#include <OcraWbiModel.h>

List of all members.

Classes
struct	OcraWbiModel_pimpl
Public Member Functions
	OcraWbiModel (const std::string &robotName, const int robotNumDOF, std::shared_ptr< wbi::wholeBodyInterface > wbi, const bool freeRoot)
virtual	~OcraWbiModel ()
virtual int	nbSegments () const
virtual const Eigen::VectorXd &	getActuatedDofs () const
virtual const Eigen::VectorXd &	getJointLowerLimits () const
virtual const Eigen::VectorXd &	getJointUpperLimits () const
virtual const Eigen::VectorXd &	getJointPositions () const
virtual const Eigen::VectorXd &	getJointVelocities () const
virtual const Eigen::VectorXd &	getJointAccelerations () const
virtual const Eigen::VectorXd &	getJointTorques () const
virtual const Eigen::Displacementd &	getFreeFlyerPosition () const
virtual const Eigen::Twistd &	getFreeFlyerVelocity () const
virtual const std::string &	getJointName (int index) const
virtual const int	getSegmentIndex (std::string segmentName) const
virtual const Eigen::MatrixXd &	getInertiaMatrix () const
virtual const Eigen::MatrixXd &	getInertiaMatrixInverse () const
virtual const Eigen::MatrixXd &	getDampingMatrix () const
virtual const Eigen::VectorXd &	getNonLinearTerms () const
virtual const Eigen::VectorXd &	getLinearTerms () const
virtual const Eigen::VectorXd &	getGravityTerms () const
virtual double	getMass () const
virtual const Eigen::Vector3d &	getCoMPosition () const
void	updateCoMPosition ()
void	updateCoMVelocity ()
virtual const Eigen::Vector3d &	getCoMVelocity () const
virtual const Eigen::Vector3d &	getCoMAcceleration () const
virtual const Eigen::Vector3d &	getCoMJdotQdot () const
virtual const Eigen::Matrix < double, 3, Eigen::Dynamic > &	getCoMJacobian () const
virtual const Eigen::Matrix < double, 3, Eigen::Dynamic > &	getCoMJacobianDot () const
virtual const Eigen::Vector3d &	getCoMAngularVelocity () const
virtual const Eigen::Matrix < double, 3, Eigen::Dynamic > &	getCoMAngularJacobian () const
virtual const Eigen::Displacementd &	getSegmentPosition (int index) const
virtual const Eigen::Twistd &	getSegmentVelocity (int index) const
virtual double	getSegmentMass (int index) const
virtual const Eigen::Vector3d &	getSegmentCoM (int index) const
virtual const Eigen::Matrix < double, 6, 6 > &	getSegmentMassMatrix (int index) const
virtual const Eigen::Vector3d &	getSegmentMomentsOfInertia (int index) const
virtual const Eigen::Rotation3d &	getSegmentInertiaAxes (int index) const
virtual const Eigen::Matrix < double, 6, Eigen::Dynamic > &	getSegmentJacobian (int index) const
virtual const Eigen::Matrix < double, 6, Eigen::Dynamic > &	getSegmentJacobian (int index, wbi::Frame H_world_root) const
virtual const Eigen::Matrix < double, 6, Eigen::Dynamic > &	getSegmentJdot (int index) const
virtual const Eigen::Matrix < double, 6, Eigen::Dynamic > &	getJointJacobian (int index) const
virtual const Eigen::Twistd &	getSegmentJdotQdot (int index) const
void	printAllData ()
Protected Member Functions
virtual void	doSetState (const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot)
virtual void	doSetState (const Eigen::Displacementd &H_root, const Eigen::VectorXd &q, const Eigen::Twistd &T_root, const Eigen::VectorXd &q_dot)
virtual void	doSetJointPositions (const Eigen::VectorXd &q)
virtual void	doSetJointVelocities (const Eigen::VectorXd &dq)
virtual void	doSetJointAccelerations (const Eigen::VectorXd &ddq)
virtual void	doSetFreeFlyerPosition (const Eigen::Displacementd &Hroot)
virtual void	doSetFreeFlyerVelocity (const Eigen::Twistd &Troot)
virtual int	doGetSegmentIndex (const std::string &name) const
virtual const std::string &	doGetSegmentName (int index) const
virtual int	doGetDofIndex (const std::string &name) const
virtual const std::string &	doGetDofName (int index) const
virtual const std::string	doSegmentName (const std::string &name) const
virtual const std::string	doDofName (const std::string &name) const
Private Attributes
std::shared_ptr < wbi::wholeBodyInterface >	robot
boost::shared_ptr < OcraWbiModel_pimpl >	owm_pimpl
yarp::os::Log	yLog
Eigen::VectorXd	dqPrevious
yarp::os::Mutex	mutex

---

Constructor & Destructor Documentation

OcraWbiModel::OcraWbiModel	(	const std::string &	robotName,
		const int	robotNumDOF,
		std::shared_ptr< wbi::wholeBodyInterface >	wbi,
		const bool	freeRoot
	)

OcraWbiModel::~OcraWbiModel

(

)

[virtual]

---

Member Function Documentation

const std::string OcraWbiModel::doDofName

(

const std::string &

name

)

const [protected, virtual]

int OcraWbiModel::doGetDofIndex

(

const std::string &

name

)

const [protected, virtual]

const std::string & OcraWbiModel::doGetDofName

(

int

index

)

const [protected, virtual]

int OcraWbiModel::doGetSegmentIndex

(

const std::string &

name

)

const [protected, virtual]

const std::string & OcraWbiModel::doGetSegmentName

(

int

index

)

const [protected, virtual]

const std::string OcraWbiModel::doSegmentName

(

const std::string &

name

)

const [protected, virtual]

void OcraWbiModel::doSetFreeFlyerPosition

(

const Eigen::Displacementd &

Hroot

)

[protected, virtual]

void OcraWbiModel::doSetFreeFlyerVelocity

(

const Eigen::Twistd &

Troot

)

[protected, virtual]

void OcraWbiModel::doSetJointAccelerations

(

const Eigen::VectorXd &

ddq

)

[protected, virtual]

void OcraWbiModel::doSetJointPositions

(

const Eigen::VectorXd &

q

)

[protected, virtual]

void OcraWbiModel::doSetJointVelocities

(

const Eigen::VectorXd &

dq

)

[protected, virtual]

void OcraWbiModel::doSetState	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	q_dot
	)		[protected, virtual]

void OcraWbiModel::doSetState	(	const Eigen::Displacementd &	H_root,
		const Eigen::VectorXd &	q,
		const Eigen::Twistd &	T_root,
		const Eigen::VectorXd &	q_dot
	)		[protected, virtual]

const Eigen::VectorXd & OcraWbiModel::getActuatedDofs

(

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getCoMAcceleration

(

)

const [virtual]

const Eigen::Matrix< double, COM_POS_DIM, Eigen::Dynamic > & OcraWbiModel::getCoMAngularJacobian

(

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getCoMAngularVelocity

(

)

const [virtual]

const Eigen::Matrix< double, COM_POS_DIM, Eigen::Dynamic > & OcraWbiModel::getCoMJacobian

(

)

const [virtual]

const Eigen::Matrix< double, COM_POS_DIM, Eigen::Dynamic > & OcraWbiModel::getCoMJacobianDot

(

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getCoMJdotQdot

(

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getCoMPosition

(

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getCoMVelocity

(

)

const [virtual]

const Eigen::MatrixXd & OcraWbiModel::getDampingMatrix

(

)

const [virtual]

const Eigen::Displacementd & OcraWbiModel::getFreeFlyerPosition

(

)

const [virtual]

const Eigen::Twistd & OcraWbiModel::getFreeFlyerVelocity

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getGravityTerms

(

)

const [virtual]

const Eigen::MatrixXd & OcraWbiModel::getInertiaMatrix

(

)

const [virtual]

const Eigen::MatrixXd & OcraWbiModel::getInertiaMatrixInverse

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getJointAccelerations

(

)

const [virtual]

const Eigen::Matrix< double, 6, Eigen::Dynamic > & OcraWbiModel::getJointJacobian

(

int

index

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getJointLowerLimits

(

)

const [virtual]

const std::string & OcraWbiModel::getJointName

(

int

index

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getJointPositions

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getJointTorques

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getJointUpperLimits

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getJointVelocities

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getLinearTerms

(

)

const [virtual]

double OcraWbiModel::getMass

(

)

const [virtual]

const Eigen::VectorXd & OcraWbiModel::getNonLinearTerms

(

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getSegmentCoM

(

int

index

)

const [virtual]

const int OcraWbiModel::getSegmentIndex

(

std::string

segmentName

)

const [virtual]

const Eigen::Rotation3d & OcraWbiModel::getSegmentInertiaAxes

(

int

index

)

const [virtual]

const Eigen::Matrix< double, 6, Eigen::Dynamic > & OcraWbiModel::getSegmentJacobian

(

int

index

)

const [virtual]

We must project the jacobian in the segment frame orientation in order to work with the controller.

const Eigen::Matrix< double, 6, Eigen::Dynamic > & OcraWbiModel::getSegmentJacobian	(	int	index,
		wbi::Frame	H_world_root
	)		const [virtual]

const Eigen::Matrix< double, 6, Eigen::Dynamic > & OcraWbiModel::getSegmentJdot

(

int

index

)

const [virtual]

const Eigen::Twistd & OcraWbiModel::getSegmentJdotQdot

(

int

index

)

const [virtual]

double OcraWbiModel::getSegmentMass

(

int

index

)

const [virtual]

const Eigen::Matrix< double, 6, 6 > & OcraWbiModel::getSegmentMassMatrix

(

int

index

)

const [virtual]

const Eigen::Vector3d & OcraWbiModel::getSegmentMomentsOfInertia

(

int

index

)

const [virtual]

const Eigen::Displacementd & OcraWbiModel::getSegmentPosition

(

int

index

)

const [virtual]

const Eigen::Twistd & OcraWbiModel::getSegmentVelocity

(

int

index

)

const [virtual]

int OcraWbiModel::nbSegments

(

)

const [virtual]

void OcraWbiModel::printAllData

(

)

void OcraWbiModel::updateCoMPosition

(

)

void OcraWbiModel::updateCoMVelocity

(

)

---

Member Data Documentation

Eigen::VectorXd ocra_icub::OcraWbiModel::dqPrevious [private]

yarp::os::Mutex ocra_icub::OcraWbiModel::mutex [private]

boost::shared_ptr<OcraWbiModel_pimpl> ocra_icub::OcraWbiModel::owm_pimpl [private]

std::shared_ptr<wbi::wholeBodyInterface> ocra_icub::OcraWbiModel::robot [private]

yarp::os::Log ocra_icub::OcraWbiModel::yLog [private]

---

The documentation for this class was generated from the following files:

• ocra-wbi-plugins/ocra-icub/include/ocra-icub/OcraWbiModel.h
• ocra-wbi-plugins/ocra-icub/src/OcraWbiModel.cpp